Kamil Foryszewski / StepperMotor

A simple stepper motor driver library, supporting micro-stepping drivers such as the Pololu A4988 stepper driver carrier or the Sparkfun EasyDriver.

Dependents:   HangLiu_copy

Fork of StepperMotor by Matthew Else

Stepper.cpp@1:6fbe104c6f37, 2016-11-03 (annotated)

Committer:
kfforex
Date:
Thu Nov 03 17:14:37 2016 +0000
Revision:
1:6fbe104c6f37
Parent:
0:52fb09e87581 
before publish

Who changed what in which revision?

UserRevisionLine numberNew contents of line
melse 0:52fb09e87581 1 #include "Stepper.h"
melse 0:52fb09e87581 2 #include "mbed.h"
melse 0:52fb09e87581 3
kfforex 1:6fbe104c6f37 4 stepper::stepper(PinName _en, PinName _stepPin, PinName dir):en(_en),
melse 0:52fb09e87581 5 stepPin(_stepPin),
melse 0:52fb09e87581 6 direction(dir)
melse 0:52fb09e87581 7 {
melse 0:52fb09e87581 8 }
melse 0:52fb09e87581 9
kfforex 1:6fbe104c6f37 10 void stepper::step(float tspeed){
kfforex 1:6fbe104c6f37 11
kfforex 1:6fbe104c6f37 12 float speed;
kfforex 1:6fbe104c6f37 13 //max acceleration limiting
kfforex 1:6fbe104c6f37 14 if ((actualSpeed - tspeed) > MAX_ACCEL)
kfforex 1:6fbe104c6f37 15 speed = actualSpeed - MAX_ACCEL;
kfforex 1:6fbe104c6f37 16 else if ((actualSpeed - tspeed) < -MAX_ACCEL)
kfforex 1:6fbe104c6f37 17 speed = actualSpeed + MAX_ACCEL;
kfforex 1:6fbe104c6f37 18 else
kfforex 1:6fbe104c6f37 19 speed = tspeed;
kfforex 1:6fbe104c6f37 20
kfforex 1:6fbe104c6f37 21 if (speed == 0) {
kfforex 1:6fbe104c6f37 22 toggler.detach();
melse 0:52fb09e87581 23 }
kfforex 1:6fbe104c6f37 24 else if(speed >0) {
melse 0:52fb09e87581 25 direction = 0;
kfforex 1:6fbe104c6f37 26 toggler.attach_us(this,&stepper::toggle_step,1000000/abs(speed));
melse 0:52fb09e87581 27 }
kfforex 1:6fbe104c6f37 28 else{
kfforex 1:6fbe104c6f37 29 direction = 1;
kfforex 1:6fbe104c6f37 30 toggler.attach_us(this,&stepper::toggle_step,1000000/abs(speed));
kfforex 1:6fbe104c6f37 31 }
kfforex 1:6fbe104c6f37 32 actualSpeed = speed;
melse 0:52fb09e87581 33 }
melse 0:52fb09e87581 34
kfforex 1:6fbe104c6f37 35 void stepper::enable(){
melse 0:52fb09e87581 36 en = 0;
melse 0:52fb09e87581 37 }
melse 0:52fb09e87581 38
kfforex 1:6fbe104c6f37 39 void stepper::disable(){
melse 0:52fb09e87581 40 en = 1;
kfforex 1:6fbe104c6f37 41 }
kfforex 1:6fbe104c6f37 42
kfforex 1:6fbe104c6f37 43 void stepper::toggle_step (){
kfforex 1:6fbe104c6f37 44 stepPin = !stepPin;
melse 0:52fb09e87581 45 }